The basic mechanics of bipedal walking lead to asymmetric behavior

Robert D. Gregg, Amir Degani, Yasin Dhaher, Kevin M. Lynch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

This paper computationally investigates whether gait asymmetries can be attributed in part to basic bipedal mechanics independent of motor control. Using a symmetrical rigid-body model known as the compass-gait biped, we show that changes in environmental or physiological parameters can facilitate asymmetry in gait kinetics at fast walking speeds. In the environmental case, the asymmetric family of high-speed gaits is in fact more stable than the symmetric family of low-speed gaits. These simulations suggest that lower extremity mechanics might play a direct role in functional and pathological asymmetries reported in human walking, where velocity may be a common variable in the emergence and growth of asymmetry.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
DOIs
StatePublished - Nov 2 2011
Externally publishedYes
EventRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland
Duration: Jun 27 2011Jul 1 2011

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Conference

ConferenceRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
CountrySwitzerland
CityZurich
Period6/27/117/1/11

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

Cite this

Gregg, R. D., Degani, A., Dhaher, Y., & Lynch, K. M. (2011). The basic mechanics of bipedal walking lead to asymmetric behavior. In 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011 [5975459] (IEEE International Conference on Rehabilitation Robotics). https://doi.org/10.1109/ICORR.2011.5975459